Feature / Bot GoPiGo3 “ROSbot”
| Feature | Detail |
|---|---|
| Motors | Quantity 2 |
| 6v Gear Reduction (1:120) motors | |
| 4500 mg-cm at 6v | |
| drive() batt. load: ~330mA at 9.5v | |
| Speed | 2.6 in/sec at 120 DPS |
| 3.25 in/sec 82.6mm at 150 DPS | |
| 6.4 in/sec at 300 DPS (default) | |
| 43 in/sec (1.1m/s) max acceleration | |
| 7.7 in/sec (0.2m/s) at 360 DPS (max for straight travel) | |
| Supply Circuit | Rohm DC/DC Buck BD9D320EFJ |
| 4.5-18v input | |
| 5v 3A | |
| Tires | 2.6” 66.5mm |
| Robot Dimensions | 9 L x 5 W x 7 H |
| Chassis Shape | Three Layer Rectangle |
| Weight | X.x lbs |
| Min Turning Radius | 14cm 5.5 inch |
| "Axle" center to rear corners | |
| 19cm 7.5 inch orbit radius | |
| Wheel center to opp. rear corner | |
| Using WDia,WBase | 64.0 (2.5") 114.05 mm (4.5") |
| “Grove” Analog / Digital / PWM | Grove Connector: |
| (A2D 0-5v 12bit 1.2mV resolution) | |
| 1-A: | pin 1 (default) |
| 1-B: | pin 2 |
| 2-A: | pin 1 (default) |
| 2-B: | pin 2 |
| pin 3: | VCC 5v |
| pin 4: | GND |
| Serial Port | unused |
| level converted | |
| Servo Ports | 1) pan 2) unused |
| Motor Driver | Dual TB6612FNG |
| Dual 1.2A 15v max | |
| I2C | Parallel wired -interchangeable |
| 2x “Grove” HW I2C ports | |
| (level converted) | |
| “1”) DI Distance Sensor | |
| “2”) unused | |
| Castor | 3/4” Pololu plastic ball |
| Power Switch | Push/Push |
| Pan | TowerPro SG90 Micro Servo |
| Sensors: |
Battery V 12bit intrinsic float, 16:1 div, 8.6mV precision, 70mv variation
Distance TOF VL53L0X I2C $20 1-78” +/-12.5deg beam (~36” at max detect range) ~20ms continuous , ~120ms single reading 1%-5% variation, 6 reading average 1%-3% variation I2C 0x2A
Pi Camera v1.3
- 5MP 1080p30 2592 x 1944 pixels 35mm focal length equiv. focus 1 m to inf. H 53 deg x V 41 deg f/2.9 (Use 1296 x 976 and 2x2 binning for better low light SNR) , Flex Cable 18”/457mm
Encoders 720 counts / rev (6 count/motor_rev x 120:1 gear reduction) (APIs in degrees, 360 / wheel rev)
Microphone None
Indicators
Battery On/Level Red/Yellow/Purple Voltage Indicator
Other 3x Multi-Color WS2812B LED 2x Red LED
Processor Raspberry Pi 4
- 1.8GHz Four-core Cortex-A72
- 2 GB RAM
- 32GB SD card / ~8GB used
- 600ma idle - 1.34A full load
ADC ATMEL SAMC20J 12-bit with 2.048v ± 0.041v Vref
Power Source ModRobotics 3000mAH 11.1 Rechargeable LI-Ion Battery
Configured Idle Battery Current Draw 225ma 11v - 308mA 8v
ave: 258mA 9.6v 2.5w
equiv. 500mA at 5v
Active Current Draw ( Motors, Camera, Sensors, Servo ) 800 mA - 2A
Run Time 4-5 h (~30Wh),
Extended ROSbot Cost $??? Nov 2023